System and method for a quick-change material turret in a robotic fabrication and assembly platform

ABSTRACT

Systems and methods for a robotic fabrication and assembly platform providing a plurality of printable materials for fabrication of a three-dimensional object are provided. A method includes activating a pneumatic actuator to extend a quick-change turret from a pneumatic seal. The method may insert a plurality of barrels into the quick-change turret. The method may also align one of the plurality of barrels with a pneumatic seal in the quick-change turret. The method may also disengage the pneumatic actuator to seat the aligned barrel onto the pneumatic seal and print a three-dimensional object. The method may further halt the printing of the three-dimensional object prior to completion and engage the pneumatic actuator to extend the quick-change turret from the pneumatic seal.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application62/405,281, filed Oct. 7, 2016, which is incorporated by reference inits entirety.

TECHNICAL FIELD

The present application generally relates to robotic fabrication andassembly platforms and, more particularly, to systems and methods forutilizing a benchtop/portable robotic fabrication and assembly platformto dispense a variety of materials.

BACKGROUND

Additive manufacturing, also known as three-dimensional printingprovides a way to fabricate three-dimensional objects that has gainedprevalence in recent years. Dispensation mechanisms of printablematerials used in the fabrication of three-dimensional objects haveincluded pneumatic, mechanical, jetting, electrospinning, fuseddeposition modeling mechanisms, etc. Three-dimensional objects havetraditionally been stored and printed using Cartesian coordinates (XYZ).Additionally, changing between different printable materials tofabricate a 3D object has involved 3D printers that lack portability aswell as the ability to quickly switch between those printable materials.

Accordingly, a need exists for systems that provide a portable roboticfabrication and assembly platform able to quickly switch betweenprintable materials during 3D object fabrication utilizingnon-traditional coordinate systems, along with methods of use of suchsystems.

SUMMARY

A robotic fabrication and assembly platform for providing a plurality ofprintable materials for fabrication of a three-dimensional object maycomprise a power supply configured to provide power to a horizontalmotor assembly, a vertical motor assembly, an angular motor assembly,and a turret motor. The robotic fabrication and assembly platform mayfurther comprise the horizontal motor assembly configured tohorizontally move a rotatable build platen. The robotic fabrication andassembly platform may also comprise the vertical motor assemblyconfigured to vertically move a quick-change turret. The roboticfabrication and assembly platform may additionally comprise the angularmotor assembly configured to rotate the rotatable build platen. Therobotic fabrication and assembly platform may also comprise thequick-change turret comprising the turret motor configured to move anindexed motor spindle. The quick-change turret may further comprise aprint head configured for switching between printable materials among aplurality of barrels. The quick-change turret may further still comprisea pneumatic seal configured for delivering a selected printable materialfrom within a barrel among the plurality of barrels. The quick-changeturret may additionally comprise the indexed motor spindle configured torotate the quick-change turret and the plurality of barrels. Thequick-change turret may also additionally comprise a pneumatic actuatorconfigured to extend the quick-change turret such that a pneumatic sealvaries between an open state and a closed state. The robotic fabricationand assembly platform may still further comprise the rotatable buildplaten configured to rotate parallel to the quick-change turret.

In another embodiment, a method for providing a plurality of printablematerials to a robotic fabrication and assembly platform for fabricationof an object may comprise activating a pneumatic actuator to extend aquick-change turret from a pneumatic seal. The method may also compriseinserting a plurality of barrels into the quick-change turret. Themethod may further comprise aligning one of the plurality of barrelswith a pneumatic seal in the quick-change turret. The method may furtherstill comprise disengaging the pneumatic actuator to seat the alignedbarrel onto the pneumatic seal. The method may additionally compriseprinting a three-dimensional object. The method may further additionallycomprise halting the printing of the three-dimensional object prior tocompletion. The method may still additionally comprise also furthercomprise engaging the pneumatic actuator to extend the quick-changeturret from the pneumatic seal. The method may also comprise selectinganother printable material from the plurality of printable materials byrotating the quick-change turret via a turret motor to print in sequenceanother printable material of the plurality of printable materials. Themethod may further comprise disengaging the pneumatic actuator to seatanother of the plurality of barrels onto the pneumatic seal. The methodmay still further comprise resuming printing of the three-dimensionalobject.

These and additional features provided by the embodiments describedherein will be more fully understood in view of the following detaileddescription, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the subject matter defined by theclaims. The following detailed description of the illustrativeembodiments can be understood when read in conjunction with thefollowing drawings, where like structure is indicated with likereference numerals and in which:

FIG. 1A illustrates a perspective view of a robotic fabrication andassembly platform, according to one or more embodiments shown anddescribed herein;

FIG. 1B illustrates a top-down view of a robotic fabrication andassembly platform, according to one or more embodiments shown anddescribed herein;

FIG. 2A illustrates a side view of a quick-change turret with alignmentpins in an up position, according to one or more embodiments shown anddescribed herein;

FIG. 2B illustrates a frontal view of a quick-change turret withalignment pins in an up position, according to one or more embodimentsshown and described herein;

FIG. 2C illustrates a cross-sectional side view of a quick-change turretwith alignment pins in an up position, according to one or moreembodiments shown and described herein;

FIG. 3A illustrates a side view of a quick-change turret with alignmentpins in a down position, according to one or more embodiments shown anddescribed herein;

FIG. 3B illustrates a frontal view of a quick-change turret withalignment pins in a down position, according to one or more embodimentsshown and described herein;

FIG. 3C illustrates a cross-sectional side view of a quick-change turretwith alignment pins in a down position, according to one or moreembodiments shown and described herein;

FIG. 4A illustrates a perspective view of a robotic fabrication andassembly platform featuring a handle, enclosure, and front stabilizer,according to one or more embodiments shown and described herein;

FIG. 4B illustrates a top-down view of a robotic fabrication andassembly platform featuring a handle, enclosure, and front stabilizer,according to one or more embodiments shown and described herein;

FIG. 5A illustrates a side view of a quick-change turret utilizinglatches and with alignment pins in an up position, according to one ormore embodiments shown and described herein;

FIG. 5B illustrates a frontal view of a quick-change turret utilizinglatches and with alignment pins in an up position, according to one ormore embodiments shown and described herein;

FIG. 5C illustrates a cross-sectional side view of a quick-change turretutilizing latches and with alignment pins in an up position, accordingto one or more embodiments shown and described herein;

FIG. 6A illustrates a side view of a quick-change turret utilizinglatches and with alignment pins in a down position, according to one ormore embodiments shown and described herein;

FIG. 6B illustrates a frontal view of a quick-change turret utilizinglatches and with alignment pins in a down position, according to one ormore embodiments shown and described herein;

FIG. 6C illustrates a cross-sectional side view of a quick-change turretutilizing latches and with alignment pins in a down position, accordingto one or more embodiments shown and described herein;

FIG. 7 illustrates a perspective view of a quick-change turret,according to one or more embodiments shown and described herein;

FIG. 8 illustrates a perspective view of an enclosure utilizing apneumatic proportional regulator valve, according to one or moreembodiments shown and described herein;

FIG. 9 illustrates a perspective view of a rotatable build platenfeaturing a theta sensor, according to one or more embodiments shown anddescribed herein;

FIG. 10 illustrates a perspective view of a robotic fabrication andassembly platform featuring a Z-max limit switch, an R-min limit switch,and an R-max limit switch, according to one or more embodiments shownand described herein;

FIG. 11 depicts a flowchart illustrating a methodology for tipcalibration, according to one or more embodiments shown and describedherein;

FIG. 12 depicts a flowchart illustrating a methodology for fabricatingan object by using a turret for swapping barrels of printable materials,according to one or more embodiments shown and described herein; and

FIG. 13 schematically illustrates exemplary computing hardware forimplementing various processes and systems, according to one or moreembodiments shown and described herein.

DETAILED DESCRIPTION

Referring to FIG. 1A, a perspective view of a robotic fabrication andassembly platform is depicted, through which embodiments of thedisclosure can be implemented. The robotic fabrication and assemblyplatform may include a rotatable build platen 102A that may be rotatedby an angular motor assembly 116A at any suitable speed and/or in anysuitable angular direction, either or both of which may be determinedand/or adjusted by the robotic fabrication and assembly platform and/ora user. In this embodiment the angular motor assembly 116A is locatedbelow an outer portion of the rotatable build platen 102A, although theangular motor assembly 116A may be located anywhere suitable forcontrolling rotation of the rotatable build platen 102A. In variousembodiments, any suitable number of angular motor assemblies may beutilized. In this embodiment the rotatable build platen 102A rotatesabout an axis Θ orthogonal to the center of the rotatable build platen102A, although any suitable axis of rotation may be utilized. In someembodiments, the rotatable build platen 102A may utilize a gear drive(or any other suitable mechanism(s) to achieve rotation) and/or mayallow for temperature modification, such as for heating and/or coolingthe temperature of which may be determined and/or adjusted by therobotic fabrication and assembly platform and/or a user. For example,heating or cooling may be used to impact the rate at which printedmaterial deposited upon the rotatable build platen 102A stays in itscurrent form (such as remaining viscous due to heat) or changes (such ashardening due to cooling).

In some embodiments, the quick-change turret 104A may print according toreceived cylindrical coordinates comprising RΘZ coordinate values, whereR is a horizontal coordinate value, Θ is a rotational axis coordinatevalue (measured in radians, degrees, etc.), and Z is a verticalcoordinate value. In this embodiment, a three-dimensional object may beprinted according to cylindrical coordinate values comprising RΘZ,wherein R represents a horizontal coordinate value, Θ represents arotational axis coordinate value, and Z represents a vertical coordinatevalue. Other embodiments may utilize Cartesian coordinates or any othersuitable representation of a three-dimensional object. In thisembodiment, Θ may correspond to the rotation of the rotatable buildplaten 102A.

In this embodiment, the rotatable build platen 102A may also be movedhorizontally by a horizontal motor assembly 112A that moves therotatable build platen 102A horizontally towards and away the fromhorizontal motor assembly 112A along the R (horizontal) axis at anysuitable speed along the R (horizontal) axis, which may be determinedand/or adjusted by the robotic fabrication and assembly platform and/ora user. In some embodiments the horizontal motor assembly 112A mayutilize a screw drive, although any suitable mechanism(s) may beutilized. In various embodiments, any suitable number of horizontalmotor assemblies may be utilized. In other embodiments the horizontalmotor assembly 112A may move the rotatable build platen 102A in adirection that is not purely horizontal, such as at a gradient. In thisexample, a vertical motor assembly 108A may be utilized to verticallymove a quick-change turret 104A along the Z (vertical) axis. In someembodiments, the vertical motor assembly 108A may utilize a screw drive,although any suitable mechanism(s) may be utilized. In some embodimentsthe vertical motor assembly 108A may move the quick-change turret 104Aorthogonally with respect to the rotatable build platen 102A at anysuitable and/or adjustable speed and/or angle which may be determinedand/or adjusted by the robotic fabrication and assembly platform and/ora user. In other embodiments the vertical motor assembly 108A may movethe quick-change turret 104A in a direction that is not purely vertical,such as at a gradient.

In this embodiment, a motor controller 114A may be utilized to controlthe vertical motor assembly 108A, the horizontal motor assembly 112A,the angular motor assembly 116A, and/or the quick-change turret 104A.Any suitable type of motor assemblies may be used for any of thesecomponents utilizing any suitable type of power such as electric power,hydraulic, pneumatic, etc. A power supply 110A may be located betweenthe vertical motor assembly 108A and motor controller 114A. In otherembodiments, one or more power supplies may be located anywhere on therobotic fabrication and assembly platform. External power, whetherdelivered via wire or wireless, may also be utilized in someembodiments. Communication between any of the motor controller 114A, thevertical motor assembly 108A, the horizontal motor assembly 112A, theangular motor assembly 116A, the quick-change turret 104A, and/or thepower supply 110A may utilize any suitable wired and/or wirelessprotocols to transmit power, data, and/or instructions. As discussed inmore detail below, the quick-change turret 104A may feature one or morebarrels 106A utilized to store and provide printable material. In someembodiments, the rotatable build platen 102A may be configured to rotateparallel to the quick-change turret 104A.

In this embodiment, unobstructed airflow may be permitted directly ontothe rotatable build platen 102A. This may, for example, assist withcooling a freshly-printed three dimensional object. Moreover, therobotic fabrication and assembly platform may be open to provide certainairflow characteristics. In this embodiment this open form factor mayreduce potential turbulence when placed in a sterile biohood, as airturbulence generates flow eddies that reduce/deter sterility in abiohood. Put another way, this may reduce air turbulence by providing apath for unobstructed airflow from a height above the roboticfabrication and assembly platform onto the rotatable build platen.

Additionally, a three-dimensional scanner may be utilized in someembodiments. Any suitable type of data may be captured utilizing anysuitable 3D scanning technique. This may occur, for example, by ascanner positioned near the rotatable build platen 102A to scan anobject as it sits upon the rotatable build platen 102A and rotates. Inother examples, a scanner descending from the quick-change turret 104Ato rotate about an object resting upon the rotatable build platen 102A,which may rotate to give the 3D scanner a full rotational view of theobject.

Turning now to FIG. 1B, a top-down view of a robotic fabrication andassembly platform is shown according to various embodiments. As depictedin FIG. 1A, the motor controller 114B may be coupled to the power supply110B, which may itself be coupled to the vertical motor assembly 108B.The quick-change turret 104B may be coupled to components controlled bythe vertical motor assembly 108B located above a portion of therotatable build platen 102B.

Turning now to FIG. 2A, a side view of a quick-change turret withalignment pins in an up position is shown according to variousembodiments. In this embodiment, a turret motor 202A located within aturret 203A at the top of the quick-change turret, in combination with apneumatic actuator 204A, may provide rotational motion to thequick-change turret. Alignment pins 206A, shown here in a closedposition, may prevent misalignment and binding of the moving componentsof the printhead during actuation. For example, the alignment pins 206Amay align one of the plurality of barrels with a pneumatic seal. Eachbarrel 210A may contain a printable material 208A to be expelled via aneedle, although any suitable type of delivery opening may be utilizedto expel printable material 208A from the barrel 210A. Barrels 210A inthis embodiment are uniform (size, length, shape, material(s) of whichthe barrels are made, etc.) but need not be in other embodiments. By wayof non-limiting example, 3, 5, 10, and/or 30 cc barrel turret designsmay utilized, although any suitable design and/or size may be utilized.

A barrel 210A may have a window (transparent, translucent, tinted,shaded, etc.) to view the printable material 208A, whereas otherembodiments may have a display (digital, etc.) to indicate how muchprintable material 208A remains in the barrel 210A. In variousembodiments, at least two of the barrels 210A each contain a differentprintable material 208A, which may be any suitable type of material,such as, by way of non-limiting examples, collagen, fibrin, hydrogels,solvated biocompatible materials such as polyactic acid (PLA),poly(lactide-co-glycolide) (PLGA), poly(glycolic acid) PGA, pastes, etc.In some embodiments, when barrels 210A are placed in the turret 203A maybe seated against a compression spring in the bottom of the turret 203A.This spring may bias the barrel 210A to be seated (for example) near thetop of the turret, and in this embodiment when the particular barrel210A is placed and seated on the pneumatic seal (shown in 214C in FIG.2C), the spring may be compressed, forcing the tip of the printingneedle to be lower (8 mm for example, or any other suitable value) thanall other needle tips in the turret 203A. In various embodiments,different barrels 210A may have different visible needle lengthsextending out of each barrel 210A. In some embodiments, a barrel strokesize may be modifiable, such that changing the barrel stroke size mayallow for the accommodation of various well plate sizes. In someembodiments, a pneumatic actuator 204A with 10 mm of stroke may beemployed, although any suitable value may be utilized. For example, anactuator may be employed with a longer stroke value to allow for alarger distance between a needle (or print tip) and banked needles. Insome embodiments, the pneumatic actuator stroke may be transitioned to amechanical actuator.

Turning now to FIG. 2B, a frontal view of a quick-change turret withalignment pins in an up position shown according to various embodiments.

Turning now to FIG. 2C, a cross-sectional side view of a quick-changeturret with alignment pins in up position is depicted, through whichembodiments of the disclosure can be implemented. Any number ofalignment pins 206C may be utilized to align one of a plurality ofbarrels 210C have needles 212C with a pneumatic seal 214C. In variousembodiments, any number of pneumatic seals 214C may be utilized, alongwith any number of corresponding barrels 210C. In this embodiment, apneumatic seal 214C may be configured to deliver a selected printablematerial from within a barrel 210C among the plurality of barrels 210C.The pneumatic actuator 204C may be configured to extend the quick-changeturret such that the pneumatic seal 214C varies between an open stateand a closed state. In this embodiment, the quick-change turret isclosed a needle 212C is ready to provide printable material 208C.

Turning now to FIG. 3A, a side view of a quick-change turret withalignment pins in a down position is shown according to variousembodiments. Here the turret motor 302A may be located within a turret303A at the top of the quick-change turret, in combination with apneumatic actuator 304A. In this example, the alignment pins 306A are inan open state. In this embodiment the turret motor 302A may beconfigured to move an indexed motor spindle 307A. In this embodiment,the indexed motor spindle 307 may be configured to rotate thequick-change turret and a plurality of barrels 310A which may containprintable material 308A.

Turning now to FIG. 3B, a frontal view of a quick-change turret withalignment pins in a down position is depicted, through which embodimentsof the disclosure can be implemented.

Turning now to FIG. 3C, a cross-sectional side view of a quick-changeturret with alignment pins in a down position is shown according tovarious embodiments. In this example a barrel 310C has been aligned withthe pneumatic seal 314C, which is open. The alignment pins 306C mayprevent misalignment and binding of the moving components of a printheadduring actuation. The alignment pins 306C may slide within a bushing tomaintain alignment. Other embodiments may utilize linear ball bearings.In this embodiment, the quick-change turret is in an open state, whichprevents printing.

Turning now to FIG. 4A, a perspective view of a robotic fabrication andassembly platform featuring a handle, enclosure, and front stabilizer isshown according to various embodiments. In addition to a horizontalmotor assembly 412A, a vertical motor assembly 418A, and an angularmotor assembly 413A, in this embodiment an enclosure 414A may beutilized to house various components described herein, such as a powersupply, which in some embodiments may improve serviceability, improvethe manufacturability, and provide cable refactoring. In someembodiments, the quick-change turret 404A may be configured to changebetween printable materials 416A without programmatically compensatingfor static spans between needle 408A tips on the plurality of barrels406A on the print head. The quick-change turret 404A may be configuredto provide heating or cooling is some examples. A fused depositionmodeling head may be utilized as an additional print head within and/oradjacent to the quick-change turret 404A. In some embodiments, barrels406A may be sequentially aligned with the pneumatic seal. In someembodiments, a front stabilizer 426A may provide stability for therobotic fabrication and assembly platform and/or operation of therotatable build platen 402A. In this embodiment, the quick-change turret404A may include, by way of example, a turret 410A, alignment pins 420A,a turret carriage assembly 424A, and one or more latches 422A (orclamps) for removal and insertion of, for example, the turret carriageassembly 424A. Other embodiments may utilize screws (such as thumbscrews) instead of latches 422A, or a combination thereof.

Turning now to FIG. 4B, a top-down view of a robotic fabrication andassembly platform featuring a handle, enclosure, and front stabilizer isshown according to various embodiments.

Turning now to FIG. 5A, a side view of a closed quick-change turretutilizing latches and with alignment pins positioned up with thequick-change turret in a closed position is shown according to variousembodiments. In this embodiment, a turret motor 502A located within aturret 503A at the top of the quick-change turret, in combination with apneumatic actuator 504A, may provide rotational motion to thequick-change turret. Each barrel 510A may contain a printable material508A to be expelled via a needle, although any suitable type of deliveryopening may be utilized to expel printable material 508A from the barrel510A.

Turning now to FIG. 5B, a frontal view of a closed quick-change turretutilizing latches and with alignment pins in positioned up is shownaccording to various embodiments.

Turning now to FIG. 5C, a cross-sectional side view of a closedquick-change turret utilizing latches and with alignment pins positionedup is shown according to various embodiments. Any number of alignmentpins 506C may be utilized to align one of a plurality of barrels haveneedles 512C with a pneumatic seal 514C. In various embodiments, anynumber of pneumatic seals 514C may be utilized, along with any number ofcorresponding barrels. In this embodiment, the needle 512C may provideprintable material 508C due to the quick-change turret being closed. Inthis embodiment a pneumatic seal 514C may be configured to deliver aselected printable material 508C from within a barrel among theplurality of barrels. The pneumatic actuator 504C may be configured toextend the quick-change turret such that the pneumatic seal 514C variesbetween an open state and a closed state. The closed of the statequick-change turret may induce the pneumatic seal 514C by allowing theapplied pressure to displace the printable material 508C in the barreland pushing it out of the needle 512C tip.

Turning now to FIG. 6A, a side view of a quick-change turret in an openstate utilizing latches and with alignment pins in a down position isshown according to various embodiments. Here the turret motor 602A maybe located within a turret 603A at the top of the quick-change turret,in combination with a pneumatic actuator 604A. In this embodiment, theturret motor 602A may be configured to move an indexed motor spindle607A. In this embodiment, the indexed motor spindle 307 may beconfigured to rotate the quick-change turret and a plurality of barrels610A which may contain printable material 608A. In this embodiment, oneor more latches 618A may secure or allow removal of the turret carriageassembly 616A. In embodiments, securing or removing a quick-changeturret may be accomplished by moving or modifying a latch 618A when thequick-change turret is open, such as here. Any suitable number oflatches 618A may be utilized to secure or allow removal of a turretcarriage assembly 616A in various embodiments.

Turning now to FIG. 6B, a frontal view of a quick-change turret in anopen state utilizing latches and with alignment pins in a down positionis shown according to various embodiments.

Turning now to FIG. 6C, a cross-sectional side view of a quick-changeturret in an open state utilizing latches and with alignment pins in adown position is shown according to various embodiments. In this examplea barrel 610A has been aligned with the pneumatic seal 614C, which isopen. In this embodiment, the quick-change turret is in an open state,which prevents printing.

Turning now to FIG. 7, a perspective view of a closed quick-changeturret is shown according to various embodiments. In this embodiment,the turret motor 702 may be located at the top of the quick-changeturret, adjacent to the pneumatic actuator 704. In this example thealignment pins 706 are in the up position. A plurality of barrels 710containing printable material 708 with a needle 712 are shown attachedunder the turret carriage assembly 714, which may be secured via one ormore latches 707.

Turning now to FIG. 8, a perspective view of an enclosure utilizing apneumatic proportional regulator valve is shown according to variousembodiments. An enclosure 802 may be utilized to house variouscomponents described above, such as the power supply. In someembodiments an enclosure 802 may improve serviceability, improve themanufacturability, and provide cable refactoring. A pneumaticproportional regulator valve 804 may be configured to dynamicallycontrol pressure to a material barrel wherein the pressure isprogrammatically and dynamically adjusted during printing, and whereinproperties of the printable material affect an amount of the pressure toprint the printable material. In this embodiment, the pneumaticproportional regulator valve 804 is located within the enclosure 802,whereas it may be located outside of the enclosure 802 in otherembodiments, or may be utilized as its own attached component regardlessof whether there is an enclosure 802.

In some embodiments, a hand-grippable handle 806 may provide portabilityfor a hand to be able to pick up the robotic fabrication and assemblyplatform by the handle and carry it. In various embodiments the handle806 may be directly attached to the robotic fabrication and assemblyplatform. In this example the handle is located adjacent to the verticalmotor assembly 808. Alignment pins 812 are shown here in an up positionwith the quick-change turret in a closed state. One or more barrels 820that may contain a printable material 818 to be expelled via a needle822. In embodiments, securing or removing the turret carriage assembly816 may be accomplished by using one or more latches 814. Below theneedle 822 in this example is the rotatable build platen 824. A frontstabilizer 826 may be utilized to provide stability, such as tip-overprevention, to the robotic fabrication and assembly platform.

Turning now to FIG. 9, a perspective view of a rotatable build platen902 featuring a theta sensor 910 is shown according to variousembodiments. In this embodiment, a barrel 904 (along with other barrelsdepicted) has a needle 906 to deposit printable material upon therotatable build platen 902, the rotation of which may be controlled bythe angular motor assembly 908. In some embodiments, a theta homeposition of the rotatable build platen 902 may be determined accordingto a Θ value as detected by the theta sensor 910. Any number of thetasensors 910 may be utilized. In this embodiment the theta sensor 910 maybe used for homing of the theta axis. Some embodiments may utilize ahall effect or magnetic noncontact sensor, whereby a magnet may beattached to a stage (or rotatable build platen 902) at one fixedposition and the theta sensor 910 detects that location and sets it asthe home position. In various embodiments an optical switch may utilizea thin beam of infrared light and a tab is attached to the stage (orrotatable build platen 902), such that when there is rotation, the tabcrosses the beam. That location may be set as the home position.

Turning now to FIG. 10, a perspective view of a robotic fabrication andassembly platform featuring a Z-max limit switch, an R-min limit switch,and an R-max limit switch is shown according to various embodiments. Inthis embodiment, an enclosure 1002 may be coupled to a handle 1004, avertical motor assembly 1006, and a horizontal motor assembly 1028. Asdiscussed above, a quick-change turret may include a turret 1008,alignment pins 1010, a turret carriage assembly 1012, a pneumaticactuator 1014, clamps 1016, and barrels 1020 containing one or moreprintable materials 1018 and one or more needles 1022. A frontstabilizer 1026 may have an R-max limit switch 1038 attached or locatednearby, and an R-min limit switch 1036 may be located near thehorizontal motor assembly 1028. An R-axis and Z-axis sensor for tipcalibration 1030 and/or a Θ-axis sensor for tip calibration 1032 may beattached or located on or near the rotatable build platen 1024. Thevertical motor assembly 1006 may have a Z-max limit switch 1034 coupledto it or located in close proximity. In various embodiments the R-axisand z-axis sensor for tip calibration 1030, the Θ axis sensor for tipcalibration 1032, the Z-max limit switch 1034, the R-min limit switch1036, and/or the R-max limit switch 1038 may be located in any suitablelocation on the a robotic fabrication and assembly platform or omitted.The switches, which may be infrared (or utilize any other suitabledetection mechanism), may be utilized to implement a non-contact tipdetect system to calibrate the tip of each needle 1022 to the coordinatesystem. In this embodiment there are two optical switches (although anysuitable number may be utilized in other embodiments), one switch 1030to measure tip in the R direction and the other switch 1032 to measurethe tip in the theta direction. The R direction sensor may also beutilized to calibrate the end of the needle 1022 tip in the Z direction.In some embodiments this may include performing axis endstop switchcalibration, determining a needle 1022 tip location in a horizontaldirection, determining the needle 1022 tip location in a verticaldirection, and determining the needle 1022 tip location in an angulardirection.

Turning now to FIG. 11, a flowchart 1100 for fabricating athree-dimensional object by using a turret for swapping barrels ofprintable materials is shown according to various embodiments. At 1102,the turret rotates to a desired material and actuates to a closed state.At 1104, axis endstop switch calibration may begin, whereby the z-axismay move to a Z-max limit switch. At 1106, the r-axis may move to anr-max limit switch. At 1108, the R-axis may move to an R-min limitswitch. At 1110, the theta-axis may move home with the theta sensor. At1112, the axis endstop switch calibration may complete, so that axesmove to the R-Axis sensor, moving only the R-axis, and traversing thetip across the IR beam to determine tip location in the R direction. At1114, the tip may be calibrated on the R-Axis sensor to determine thelength of the needle in the Z-Direction. At 1116, the tip may move tothe theta axis sensor for calibration and traverse the tip across the IRbeam to determine the tip location in the theta direction. At 1118, thetip may be in a calibrated state ready to print material within thatparticular barrel. At 1120, a determination may be made as to whetherthe printable material is to be changed. If so, the process may returnto 1102 to begin tip calibration again. Otherwise, the process mayfinish at 1124.

Turning now to FIG. 12, a flowchart 1200 for fabricating athree-dimensional object by using a turret for swapping barrels ofprintable materials is shown according to various embodiments. At 1202,the pneumatic actuator may be engaged to extend the turret from thepneumatic seal. At 1204, a turret loaded with barrels containing one ormore printable materials may be inserted. At 1206, one of the barrelsmay be aligned with the pneumatic seal. At 1208, the pneumatic actuatormay be disengaged in order to seat the barrel onto the pneumatic seal.At 1210, the unit may then be ready to print. At 1212, a determinationmay be made as to whether a change in printable material is desired,needed, and/or instructed. If not, the process may proceed to finish at1224. Otherwise, at 1214, the pneumatic actuator may be engaged in orderto extend the turret from the pneumatic seal. At 1216, the turret motormay then rotate freely to the desired/requested/instructed material toprint in sequence from the turret. At 1218, the pneumatic actuator maybe disengaged in order to seat the next/desired/specified barrel ontothe pneumatic seal. In some embodiments, this may be based upon anotherprintable material being needed or more of the same printable materialbeing needed from another barrel. At 1220, the unit may again be readyto print. At 1222, a determination may be made as to whether theprinting is complete. If not, the process may return to 1210 with theunit again being ready to print. Otherwise, if the printing is complete,then the process may finish at 1224.

Turning now to FIG. 13, a block diagram illustrates an example of acomputing device 1300, through which embodiments of the disclosure canbe implemented. The computing device 1300 described herein is but oneexample of a suitable computing device and does not suggest anylimitation on the scope of any embodiments presented. Nothingillustrated or described with respect to the computing device 1300should be interpreted as being required or as creating any type ofdependency with respect to any element or plurality of elements. Invarious embodiments, a computing device 1300 may include, but need notbe limited to, a desktop, laptop, server, client, tablet, smartphone, orany other type of device that can compress data. In an embodiment, thecomputing device 1300 includes at least one processor 1302 and memory(non-volatile memory 1308 and/or volatile memory 1310. The computingdevice 1300 can include one or more displays and/or output devices 1304such as monitors, speakers, headphones, projectors, wearable-displays,holographic displays, and/or printers, for example. The computing device1300 may further include one or more input devices 1306 which caninclude, by way of example, any type of mouse, keyboard, disk/mediadrive, memory stick/thumb-drive, memory card, pen, touch-input device,biometric scanner, voice/auditory input device, motion-detector, camera,scale, etc.

The computing device 1300 may include non-volatile memory 1308 (ROM,flash memory, etc.), volatile memory 1310 (RAM, etc.), or a combinationthereof. A network interface 1312 can facilitate communications over anetwork 1314 via wires, via a wide area network, via a local areanetwork, via a personal area network, via a cellular network, via asatellite network, etc. Suitable local area networks may include wiredEthernet and/or wireless technologies such as, for example, wirelessfidelity (Wi-Fi). Suitable personal area networks may include wirelesstechnologies such as, for example, IrDA, Bluetooth, Wireless USB,Z-Wave, ZigBee, and/or other near field communication protocols.Suitable personal area networks may similarly include wired computerbuses such as, for example, USB and FireWire. Suitable cellular networksinclude, but are not limited to, technologies such as LTE, WiMAX, UMTS,CDMA, and GSM. Network interface 1312 can be communicatively coupled toany device capable of transmitting and/or receiving data via the network1314. Accordingly, the hardware of the network interface 1312 caninclude a communication transceiver for sending and/or receiving anywired or wireless communication. For example, the network interfacehardware may include an antenna, a modem, LAN port, Wi-Fi card, WiMaxcard, mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices.

A computer readable storage medium 1316 may comprise a plurality ofcomputer readable mediums, each of which may be either a computerreadable storage medium or a computer readable signal medium. A computerreadable storage medium 1316 may reside, for example, within an inputdevice 1306, non-volatile memory 1308, volatile memory 1310, or anycombination thereof. A computer readable storage medium can includetangible media that is able to store instructions associated with, orused by, a device or system. A computer readable storage mediumincludes, by way of non-limiting examples: RAM, ROM, cache, fiberoptics, EPROM/Flash memory, CD/DVD/BD-ROM, hard disk drives, solid-statestorage, optical or magnetic storage devices, diskettes, electricalconnections having a wire, or any combination thereof. A computerreadable storage medium may also include, for example, a system ordevice that is of a magnetic, optical, semiconductor, or electronictype. Computer readable storage media and computer readable signal mediaare mutually exclusive.

A computer readable signal medium can include any type of computerreadable medium that is not a computer readable storage medium and mayinclude, for example, propagated signals taking any number of forms suchas optical, electromagnetic, or a combination thereof. A computerreadable signal medium may include propagated data signals containingcomputer readable code, for example, within a carrier wave. Computerreadable storage media and computer readable signal media are mutuallyexclusive.

The computing device 1300 may include one or more network interfaces1312 to facilitate communication with one or more remote devices, whichmay include, for example, client and/or server devices. A networkinterface 1312 may also be described as a communications module, asthese terms may be used interchangeably.

It is noted that recitations herein of a component of the presentdisclosure being “configured” or “programmed” in a particular way, toembody a particular property, or to function in a particular manner, arestructural recitations, as opposed to recitations of intended use. Morespecifically, the references herein to the manner in which a componentis “configured” or “programmed” denotes an existing physical conditionof the component and, as such, is to be taken as a definite recitationof the structural characteristics of the component.

The order of execution or performance of the operations in examples ofthe disclosure illustrated and described herein is not essential, unlessotherwise specified. That is, the operations may be performed in anyorder, unless otherwise specified, and examples of the disclosure mayinclude additional or fewer operations than those disclosed herein. Forexample, it is contemplated that executing or performing a particularoperation before, contemporaneously with, or after another operation iswithin the scope of aspects of the disclosure.

It is noted that the terms “substantially” and “about” and“approximately” may be utilized herein to represent the inherent degreeof uncertainty that may be attributed to any quantitative comparison,value, measurement, or other representation. These terms are alsoutilized herein to represent the degree by which a quantitativerepresentation may vary from a stated reference without resulting in achange in the basic function of the subject matter at issue.

While particular embodiments have been illustrated and described herein,it should be understood that various other changes and modifications maybe made without departing from the spirit and scope of the claimedsubject matter. Moreover, although various aspects of the claimedsubject matter have been described herein, such aspects need not beutilized in combination. It is therefore intended that the appendedclaims cover all such changes and modifications that are within thescope of the claimed subject matter.

1. A robotic fabrication and assembly platform for providing a pluralityof printable materials for fabrication of a three-dimensional object,comprising: a power supply configured to provide power to a horizontalmotor assembly, a vertical motor assembly, an angular motor assembly,and a turret motor; the horizontal motor assembly configured tohorizontally move a rotatable build platen; the vertical motor assemblyconfigured to vertically move a quick-change turret; the angular motorassembly configured to rotate the rotatable build platen; thequick-change turret comprising: the turret motor configured to move anindexed motor spindle; a print head configured for switching betweenprintable materials among a plurality of barrels; a pneumatic sealconfigured for delivering a selected printable material from within abarrel among the plurality of barrels; the indexed motor spindleconfigured to rotate the quick-change turret and the plurality ofbarrels; and a pneumatic actuator configured to extend the quick-changeturret such that a pneumatic seal varies between an open state and aclosed state; and the rotatable build platen configured to rotateparallel to the quick-change turret.
 2. The robotic fabrication andassembly platform of claim 1 wherein the quick-change turret isconfigured for changing between printable materials withoutprogrammatically compensating for static spans between needle tips onthe plurality of barrels on the print head.
 3. The robotic fabricationand assembly platform of claim 1 further comprising a theta sensorconfigured to determine a rotational starting position of the rotatablebuild platen.
 4. The robotic fabrication and assembly platform of claim1 wherein the quick-change turret further comprises a plurality ofbarrels wherein at least two of the plurality of barrels comprisedifferent printable materials.
 5. The robotic fabrication and assemblyplatform of claim 1 further comprising a proportional regulator valveconfigured to dynamically control pressure to a material barrel whereinthe pressure is programmatically and dynamically adjusted duringprinting, and wherein properties of the printable material affect anamount of the pressure to print the printable material.
 6. The roboticfabrication and assembly platform of claim 1 further configured toreduce air turbulence by providing a path for unobstructed airflow froma height above the robotic fabrication and assembly platform onto therotatable build platen.
 7. The robotic fabrication and assembly platformof claim 1 further comprises a hand-grippable handle configured toprovide portability for a hand to pick up the robotic fabrication andassembly platform by the handle.
 8. The robotic fabrication and assemblyplatform of claim 1 further comprises a fused deposition modeling headthat is either an additional print head within the quick-change turretor next to the quick-change turret.
 9. The robotic fabrication andassembly platform of claim 1 wherein the quick-change turret isconfigured to provide heating or cooling.
 10. The robotic fabricationand assembly platform of claim 1 further configured for bio-printing.11. The robotic fabrication and assembly platform of claim 1 wherein thequick-change turret further comprises alignment pins configured to alignone of the plurality of barrels with a pneumatic seal.
 12. The roboticfabrication and assembly platform of claim 11 wherein the alignment pinsare further configured to bind a movable assembly and preventmisalignment.
 13. The robotic fabrication and assembly platform of claim1 further configured to perform calibration by: performing axis endstopswitch calibration; determining a needle tip location in a horizontaldirection; determining the needle tip location in a vertical direction;and determining the needle tip location in an angular direction.
 14. Therobotic fabrication and assembly platform of claim 1 wherein thequick-change turret further comprises a latch configured for securing orremoving the quick-change turret.
 15. The robotic fabrication andassembly platform of claim 1 wherein the quick-change turret is furtherconfigured to print according to received cylindrical coordinatescomprising RΘZ wherein R is a horizontal coordinate value, Θ is arotational axis coordinate value, and Z is a vertical coordinate value.16. A method for providing a plurality of printable materials to arobotic fabrication and assembly platform for fabrication of an object,comprising: engaging a pneumatic actuator to extend a quick-changeturret from a pneumatic seal; inserting a plurality of barrels into thequick-change turret; aligning one of the plurality of barrels with apneumatic seal in the quick-change turret; disengaging the pneumaticactuator to seat the aligned barrel onto the pneumatic seal; printing athree-dimensional object; halting the printing of the three-dimensionalobject prior to completion; engaging the pneumatic actuator to extendthe quick-change turret from the pneumatic seal; selecting anotherprintable material from the plurality of printable materials by rotatingthe quick-change turret via a turret motor to print in sequence anotherprintable material of the plurality of printable materials; disengagingthe pneumatic actuator to seat another of the plurality of barrels ontothe pneumatic seal; and resuming printing of the three-dimensionalobject.
 17. The method of claim 16 further comprising carrying roboticfabrication and assembly platform by a handle directly attached to therobotic fabrication and assembly platform.
 18. The method of claim 16further comprising securing or removing the quick-change turret bymoving or modifying a latch.
 19. The method of claim 16 furthercomprising changing a barrel stroke size to accommodate a different wellplate size.
 20. The method of claim 16 wherein printing thethree-dimensional object further comprises bio-printing athree-dimensional object.
 21. The method of claim 16 further comprising:printing the three-dimensional object according to cylindricalcoordinate values comprising RΘZ, wherein R represents a horizontalcoordinate value, Θ represents a rotational axis coordinate value, and Zrepresents a vertical coordinate value; and determining a theta homeposition according to a Θ value detected by a theta sensor.
 22. Themethod of claim 16 further comprising sequentially aligning a pluralityof barrels with the pneumatic seal, wherein at least two of theplurality of the barrels each contain a different printable material.23. The method of claim 16 further comprising: performing axis endstopswitch calibration; determining a needle tip location in a horizontaldirection; determining the needle tip location in a vertical direction;and determining the needle tip location in an angular direction.